#ifndef __KURUMA_H__
#define __KURUMA_H__
#include "Arduino.h"
#include "clmotor.h"
#include "odometry.h"
#include "delay.h"
#include "usart.h"

#define TICK_TIME 0.005f //5ms

extern ClosedLoopMotor ml,mr; //左右电机

void kuruma_init(void);
void kuruma_set_velocity(float linear, float angular);
void kuruma_enable(void);
void kuruma_disable(void);
#endif
